CN114010313A - Interventional navigation system and method - Google Patents
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Abstract
The invention relates to the field of medical care devices, and particularly provides an interventional navigation system and method. Wherein, intervention navigation system includes: the respiratory gating system, the intervention device and the three-dimensional model building module; the respiratory gating system is used for acquiring respiratory motility information of a patient; the interventional device comprises: a positioning unit and an interventional structure; a positioning unit for acquiring position information of the interventional structure; the three-dimensional model reconstruction unit is used for acquiring a three-dimensional scanning image of a preset intervention region and constructing a three-dimensional blood vessel model; the three-dimensional model reconstruction unit is in communication connection with the respiratory gating system and is used for receiving respiratory motility information and adjusting the three-dimensional blood vessel model based on the respiratory motility information; the three-dimensional model reconstruction unit is in communication connection with the interventional device and is used for receiving the position information of the interventional structure and displaying the corresponding position of the interventional structure in the three-dimensional blood vessel model. Therefore, the doctor performs the operation through the prompt of the three-dimensional model image, the operation difficulty is reduced, and the operation time is shortened.
Description
Technical Field
The invention relates to the field of medical care devices, in particular to an interventional navigation system and method.
Background
The arterial embolization is an important interventional therapy technology, technically integrates multiple disciplines such as medical images and clinical treatment, has the characteristics of simplicity, safety, minimal invasion and few complications after treatment, and is one of the most important technologies for tumor interventional therapy.
The traditional vascular intervention operation is guided by a Digital Subtraction Angiography (DSA), a catheter is operated to move in a human blood vessel, the catheter is conveyed from a puncture part of a patient to a target blood vessel, and a focus is treated. In conventional vascular interventional procedures, patients are often exposed to a significant amount of X-rays. Meanwhile, medical staff have occupational risks such as long-term X-ray exposure and load bearing of protective equipment such as lead clothes. Due to the overlapping and fluoroscopy of the blood vessels and interference of other structures of the human body, the two-dimensional projection image reflects the lack of three-dimensional information of the blood vessel direction. It is sometimes difficult to accurately determine the running direction and distribution of the blood vessel from the two-dimensional projection image. The operator can only reconstruct a three-dimensional image of the blood vessels in the brain and sea based on anatomical knowledge and experience, which not only lengthens the treatment time, but also increases the exposure time of the patient and the operator to X-rays.
Disclosure of Invention
The embodiment of the invention provides an interventional navigation system and method, which are used for solving the problems that in the existing scheme, a doctor has great difficulty and long operation time in performing an operation through the prompt of a two-dimensional image because a two-dimensional image is obtained by using a digital subtraction angiography machine.
In a first aspect, an embodiment of the present invention provides an interventional navigation system, including:
the respiratory gating system, the intervention device and the three-dimensional model building module;
the respiratory gating system is used for acquiring respiratory motility information of a patient;
the interventional device comprises: a positioning unit and an interventional structure; the positioning unit is used for acquiring position information of the interventional structure;
the three-dimensional model reconstruction unit is used for acquiring a three-dimensional scanning image of a preset intervention region and constructing a three-dimensional blood vessel model;
the three-dimensional model reconstruction unit is in communication connection with the respiratory gating system and is used for receiving the respiratory motility information and adjusting the three-dimensional blood vessel model based on the respiratory motility information;
the three-dimensional model reconstruction unit is in communication connection with the interventional device and is used for receiving the position information of the interventional structure and displaying the corresponding position of the interventional structure in the three-dimensional blood vessel model.
Preferably, the three-dimensional scan image is obtained by an arteriography technique.
Preferably, the positioning unit includes: a sensor and a receiver;
the sensor is disposed on the interventional structure;
the receiver is in communication connection with the sensor and is used for receiving the positioning information sent by the sensor.
Preferably, the sensor is a magnetic navigation sensor.
Preferably, the sensor is a photoelectric tracking sensor.
Preferably, the localization unit determines the position information of the interventional structure based on real-time magnetic navigation techniques.
Preferably, the positioning unit determines position information of the interventional structure based on real-time opto-electronic tracking techniques.
Preferably, the interventional structure comprises: a guidewire and a catheter.
Preferably, the respiratory gating system comprises: a plurality of sensors;
each sensor is used for being arranged on the chest and abdomen of the patient and obtaining the respiratory motility information of the patient.
Preferably, the three-dimensional model building module includes: the system comprises a host, a human-computer interaction device and a display screen;
the host is used for constructing a three-dimensional blood vessel model which changes along with the respiratory motility information of the patient in real time and determining the corresponding position of the interventional structure in the three-dimensional blood vessel model in real time;
the human-computer interaction device is used for acquiring a control instruction;
and the display screen is used for displaying the three-dimensional blood vessel model and the corresponding position of the interventional structure in the three-dimensional blood vessel model based on the control instruction.
Preferably, the host includes:
the pre-construction module is used for constructing a three-dimensional blood vessel model based on a preoperative CTA three-dimensional scanning image;
the optimization module is used for refining the three-dimensional blood vessel model based on the intraoperative CTA three-dimensional scanning image;
and the integration module is used for integrating the respiratory motility information, the position information of the interventional structure and the three-dimensional blood vessel model to obtain the three-dimensional blood vessel model which changes along with the respiratory motility information in real time, and determining the corresponding position of the interventional structure in the three-dimensional blood vessel model.
Preferably, the host computer is further configured to determine the embolization effect based on the intraoperative CTA three-dimensional scan image.
In a second aspect, an embodiment of the present invention provides an interventional navigation method, including:
acquiring a three-dimensional scanning image of a preset intervention region, and building a three-dimensional blood vessel model based on the three-dimensional scanning image;
acquiring respiratory motility information of a patient, and adjusting the three-dimensional blood vessel model based on the respiratory motility information;
and acquiring position information of an intervention structure, and displaying a corresponding position of the intervention structure in the three-dimensional blood vessel model based on the three-dimensional model building module.
Preferably, the acquiring position information of the interventional structure includes:
and acquiring the position information of the interventional structure through a sensor which is arranged on the interventional structure in advance and a receiver which is in wireless communication connection with the sensor.
Preferably, the method further comprises the following steps:
acquiring an intraoperative CTA three-dimensional scanning image of a preset intervention region;
refining the three-dimensional vessel model based on the intraoperative CTA three-dimensional scan image.
Preferably, the method further comprises the following steps:
judging whether the embolism in the operation meets the preset requirement or not based on the CTA three-dimensional scanning image in the operation;
and if the preset requirement is not met, sending a prompt.
The intervention navigation system provided by the embodiment of the invention comprises: the respiratory gating system, the intervention device and the three-dimensional model building module; the respiratory gating system is used for acquiring respiratory motility information of a patient; the interventional device comprises: a positioning unit and an interventional structure; the positioning unit is used for acquiring position information of the interventional structure; the three-dimensional model reconstruction unit is used for acquiring a three-dimensional scanning image of a preset intervention region and constructing a three-dimensional blood vessel model; the three-dimensional model reconstruction unit is in communication connection with the respiratory gating system and is used for receiving the respiratory motility information and adjusting the three-dimensional blood vessel model based on the respiratory motility information; the three-dimensional model reconstruction unit is in communication connection with the interventional device and is used for receiving the position information of the interventional structure and displaying the corresponding position of the interventional structure in the three-dimensional blood vessel model. Therefore, when a doctor needs to perform an operation, the interventional navigation system provided by the invention can provide a relatively clear three-dimensional blood vessel model and position information of an interventional structure, the doctor can perform the operation based on the corresponding position of the three-dimensional blood vessel model interventional structure when performing the operation, the time used in the operation is reduced, and the problems of high operation difficulty and long operation time when the doctor performs the prompt of a two-dimensional image are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an interventional navigation system according to an embodiment of the present invention;
FIG. 2 is a schematic partial structural diagram of an interventional navigation system according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating an interventional navigation method according to an embodiment of the present invention.
Reference numerals:
1, building a three-dimensional model; 2, a respiratory gating system; 3, an interventional device;
31: a receiver; 32: an intervening structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the artery embolization being an important interventional treatment technique, the interventional treatment method technically integrates multiple disciplines such as medical imaging and clinical treatment, has the characteristics of simplicity, convenience, safety, minimal invasion and few complications after treatment, and has become one of the most important techniques for tumor interventional treatment.
The traditional vascular intervention operation is guided by a Digital Subtraction Angiography (DSA), a catheter is operated to move in a human blood vessel, the catheter is conveyed from a puncture part of a patient to a target blood vessel, and a focus is treated. In conventional vascular interventional procedures, patients are often exposed to a significant amount of X-rays. Meanwhile, medical staff have occupational risks such as long-term X-ray exposure and load bearing of protective equipment such as lead clothes.
In addition, in conventional interventional procedures, the two-dimensional projection images reflect the lack of three-dimensional information of the vessel direction due to the overlap and fluoroscopy of the vessels themselves and interference of other structures of the human body. It is sometimes difficult to accurately determine the running direction and distribution of the blood vessel from the two-dimensional projection image. The operator can only reconstruct a three-dimensional image of the blood vessels in the brain and sea based on anatomical knowledge and experience, which not only lengthens the treatment time, but also increases the exposure time of the patient and the operator to X-rays. Therefore, there is a clinical need for three-dimensional vessel images that reflect the position of the guidewire, catheter and their relative position to the vessel.
In view of the above problems, embodiments of the present invention provide an interventional navigation system and method. Fig. 1 is a schematic structural diagram of an interventional navigation system according to an embodiment of the present invention, and as shown in fig. 1, the interventional navigation system includes: the respiratory gating system 2, the intervention device 3 and the three-dimensional model building module 1;
the respiratory gating system 2 is used for acquiring respiratory motility information of a patient;
referring to fig. 2, the interventional device 3 comprises: a positioning unit and an interventional structure 32; the positioning unit is configured to obtain position information of the interventional structure 32;
the three-dimensional model reconstruction unit is used for acquiring a three-dimensional scanning image of a preset intervention region and constructing a three-dimensional blood vessel model;
the three-dimensional model reconstruction unit is in communication connection with the respiratory gating system 2 and is used for receiving the respiratory motility information and adjusting the three-dimensional blood vessel model based on the respiratory motility information;
the three-dimensional model reconstruction unit is communicatively connected to the interventional device 3 and configured to receive position information of the interventional structure 32 and to display a corresponding position of the interventional structure 32 in the three-dimensional vessel model. In particular, the position information of the interventional structure 32 may be the position of the interventional structure 32 with respect to certain determined structures of the human body, such that the corresponding position of the interventional structure 32 in the three-dimensional vessel model may be determined based on the positions of these determined structures.
Wherein the three-dimensional scanning image is obtained by an arteriography technology.
It should be noted that an arteriography technique, i.e., angiography, is an interventional detection method in which a developer is injected into a blood vessel. Because X-rays do not penetrate the imaging agent, angiography utilizes this property to diagnose vascular lesions from images of the imaging agent displayed under X-rays. Angiography, which introduces a contrast agent into the target vessel, eliminates the bone and soft tissue images on the angiogram by computer, and highlights the vessels only on the image slice, is the gold standard for all vascular disease examinations. Not only can the image pathological changes be clearly known, but also the conditions of blood flow, vessel wall and the like in the blood vessel can be known in the radiography process, and the structure and the function change of the blood vessel can be comprehensively judged. The contrast agent can make the blood vessel image more clearly, and can find the tiny lesion covered by other tissues, thus providing reliable basis for diagnosis and treatment. At present, the blood vessel dilator is mainly used for displaying the dilatation, the deformity, the spasm, the stenosis, the infarction and the hemorrhage of the blood vessel, has been widely applied to the clinic and is approved by the clinician and the patient.
The positioning unit includes: a sensor and receiver 31; the sensor is disposed on the interventional structure 32; the receiver 31 is connected in communication with the sensor, and is configured to receive the positioning information sent by the sensor. The positioning unit determines position information of the interventional structure 32 based on real-time magnetic navigation techniques. The positioning unit determines position information of the interventional structure 32 based on real-time photoelectric tracking techniques.
It should be noted that the magnetic navigation technology, that is, the magnetic navigation sensor technology, can determine the position information by the electromagnetic characteristics. Opto-electronic tracking techniques are also known tracking techniques that may be tried to obtain the position of the interventional structure 32. In particular, the sensor is a magnetic navigation sensor. The sensor is a photoelectric tracking sensor.
Further, the intervening structure 32 includes: a guidewire and a catheter. Specifically, the sensor may be set at the head of the guide wire and the catheter, and of course, the specific position of the sensor may be selected based on the specific surgical conditions, so that the setting of the sensor is more flexible and the position information of the interventional structure 32 can be obtained more specifically. It should be noted that the interventional structure 32 is a conventional instrument, and therefore will not be further described herein.
Specifically, the respiratory gating system 2 includes: a plurality of sensors; each sensor is used for being arranged on the chest and abdomen of the patient and obtaining the respiratory motility information of the patient. In actual use, the breathing degree information of the patient can be integrated into the three-dimensional blood vessel model in real time through the sensor on the chest and the abdomen of the patient, and the change of the three-dimensional blood vessel model along with the breathing of the patient is determined.
It should be noted that, in a specific application, the method is mainly applied to a thoracic cavity part operation, and in the thoracic cavity part operation, respiration has a large influence on the operation, so that the method, especially the method of integrating the respiration degree information of the patient into the three-dimensional blood vessel model in real time based on the respiration gating system 2, is adopted, so that a doctor can obtain the three-dimensional blood vessel model of the part in the respiration state of the patient.
The three-dimensional model building module 1 includes: the system comprises a host, a human-computer interaction device and a display screen;
the host is used for constructing a three-dimensional blood vessel model which changes along with the respiratory motility information of the patient in real time and determining the position of the interventional structure 32 in the three-dimensional blood vessel model in real time;
the human-computer interaction device is used for acquiring a control instruction;
the display screen is configured to display the three-dimensional blood vessel model and the corresponding position of the interventional structure 32 in the three-dimensional blood vessel model based on the control instruction.
The host includes: the pre-construction module is used for constructing a three-dimensional blood vessel model based on a preoperative CTA three-dimensional scanning image; the optimization module is used for refining the three-dimensional blood vessel model based on the intraoperative CTA three-dimensional scanning image; and the integration module is used for integrating the respiratory motility information, the position information of the intervention structure 32 and the three-dimensional blood vessel model to obtain the three-dimensional blood vessel model which changes along with the respiratory motility information in real time, and determining the corresponding position of the intervention structure 32 in the three-dimensional blood vessel model.
Further, the host computer is also used for determining the embolization effect based on the intraoperative CTA three-dimensional scanning image.
So set up, when carrying out the doctor and need performing the operation, the intervention navigation system that this provided can provide comparatively clear three-dimensional vascular model and can also provide the positional information who intervenes structure 32 simultaneously, and the doctor can intervene the corresponding position of structure 32 and perform the operation based on three-dimensional vascular model when performing the operation, reduces the time of using when performing the operation, and the operation degree of difficulty is big when avoiding the doctor to pass through the suggestion of two-dimensional image, problem that operation time is long.
An embodiment of the present invention further provides an interventional navigation method, and referring to fig. 3, the interventional navigation method includes:
301, acquiring a three-dimensional scanning image of a preset intervention region, and building a three-dimensional blood vessel model based on the three-dimensional scanning image;
specifically, the three-dimensional scan image acquired in step 301 is a CTA image before the operation. The CTA image before operation is a large blood vessel image reconstructed in three dimensions by injecting a contrast medium into a vein of a patient, obtaining an enhanced scanning image through CT scanning and carrying out three-dimensional reconstruction.
and 303, acquiring position information of the intervention structure, and displaying a corresponding position of the intervention structure in the three-dimensional blood vessel model based on the three-dimensional model building module.
Specifically, in this step, the position information of the interventional structure can be acquired by a sensor preset on the interventional structure and a receiver in wireless communication connection with the sensor.
So set up, can provide comparatively clear three-dimensional vascular model for the doctor, can also provide the positional information who intervenes the structure simultaneously, the doctor is when performing the operation, can intervene the corresponding position of structure and perform the operation based on three-dimensional vascular model, reduces the time of using during the operation, when avoiding the suggestion of doctor through two-dimensional image, two-dimensional image expression information shortcoming few.
Further, during the course of a procedure, physicians typically use intraoperative CTA scanning in order to obtain more information. Based on this, the interventional navigation method provided by the embodiment of the present invention further includes the following steps:
Specifically, preoperative CTA and intraoperative CTA image integration reconstruction: and integrating and reconstructing the preoperative CTA image and the intraoperative CTA image to obtain a fine hepatic artery three-dimensional blood vessel image, and integrating information such as the size and the position of a focus, the position of a target blood vessel, the existence of arteriovenous fistula, the existence of cancer embolus and the like into the three-dimensional image.
Further, when the doctor performs some specific operations, for example, when the doctor performs embolization, the interventional navigation method provided by the embodiment of the present invention further includes:
and 307, if the preset requirement is not met, sending a prompt.
By the arrangement, the treatment effect can be evaluated at any time, and when the embolism is incomplete, the embolization agent can be added in time to embolize, and the specific evaluation mode can be that the computer determines whether the incomplete embolization occurs or not based on a preset model and rules. It is of course also possible for the physician to determine whether an incomplete embolism has occurred on the basis of the displayed image.
The interventional navigation method provided by the embodiment of the invention and the interventional navigation system provided by the embodiment of the invention can be mutually referred.
The specific application scenarios of the interventional navigation system and method provided by the embodiment of the invention are as follows:
preoperative three-dimensional blood vessel reconstruction: the contrast agent is injected into the vein, and the CT scanning obtains an enhanced scanning image, so that a large blood vessel image is reconstructed in a three-dimensional manner.
Puncturing: a sheath of 5F was placed over the femoral artery using the seldinger technique (about 2-3cm below the groin).
Placing a hepatic artery: the image of the guide wire catheter is integrated into a three-dimensional blood vessel image in real time through a sensing device, and the guide wire catheter is placed in the abdominal trunk or the hepatic artery through the steps of catheter forming, catheter hanging and the like under the guidance of the three-dimensional image.
It should be noted that this step is a common application scenario of the interventional navigation system provided in the embodiment of the present invention, and by this way, a doctor can perform an operation based on a three-dimensional image during an operation, and guide the doctor to perform steps of catheter formation, catheter hanging, and the like through the three-dimensional image, so as to place the catheter in the abdominal trunk or the hepatic artery.
CTHA: contrast agent is injected through the catheter, and then CT scanning is carried out to obtain accurate images of the hepatic artery and the branches thereof.
Preoperative CTA and CTHA image integration reconstruction: and integrating and reconstructing the preoperative CTA image and the CTHA image to obtain a fine hepatic artery three-dimensional blood vessel image, and integrating information such as the size and the position of a focus, the position of a target blood vessel, the existence of arteriovenous fistula, the existence of cancer embolus and the like into the three-dimensional image.
It should be noted that, the three-dimensional model of the blood vessel is determined based on the CT scan image, so that the CT scan image is further accurate, the fineness of the three-dimensional model of the blood vessel can be provided, and the operation of the doctor can be better assisted. The preoperative CTA and CTHA images are integrated and reconstructed, so that the three-dimensional model of the blood vessel is more accurate, and the obtained three-dimensional image can more accurately reflect some specific information, such as: the size and position of the focus, the position of the target vessel, the existence of arteriovenous fistula, the existence of cancer embolus and the like.
Super-super selection target vessel catheterization: the microcatheter is placed in the target vessel by real-time three-dimensional navigation image guidance.
And (3) embolism: the embolization agent is injected into the target vessel through a microcatheter for embolization.
And (3) evaluating the effect in real time: after completion of the embolization agent injection, CT scans were performed to assess the embolization effect, and embolization agents were added as necessary.
And (3) subsequent treatment: flushing, drawing out and pressing the femoral artery puncture point with a compressor.
It should be noted that CT scanning is already a mature technology, and in the solution provided by the embodiment of the present invention, a three-dimensional image obtained by performing three-dimensional modeling based on a CT scanning structure is also one of the existing solutions.
The core technology of the embodiment of the invention is that in the scheme provided by the embodiment of the invention, the medical care personnel basically have no X-ray exposure, and the X-ray exposure time of the patient is greatly reduced. According to the operation system, medical staff do not have X-ray exposure, so that protective outfits such as lead clothes do not need to be worn, the load bearing burden is avoided, and the occupational hazards of the medical staff in the interventional department are improved. The invention leads the blood vessel of the target to be selected in advance more accurately through the real-time guidance of the three-dimensional blood vessel image, thereby not only improving the treatment effect, but also reducing the operation time, reducing the labor intensity of medical care personnel and relieving the treatment pain of patients. The invention can evaluate the treatment effect immediately, and when the embolism is incomplete, the embolism agent can be added for embolization. Not only can improve the treatment effect, but also avoids multiple TACE of the patient and lightens the economic burden of the patient.
Specifically, in the scheme provided by the embodiment of the invention, the treatment effect is immediately evaluated, and when the embolism is incomplete, an embolic agent can be added for embolization, and the specific evaluation mode can be that a computer determines whether the incomplete embolization occurs or not based on a preset model and rules. It may also be the case that the physician determines whether incomplete embolization has occurred based on the displayed image.
If the physician determines whether the incomplete embolism occurs, the physician has certain requirements on the ability of the physician and needs to take time and energy of the physician. If the situation that whether embolism is incomplete is determined by using the preset model and rule, an experienced doctor needs to make a judgment rule, or a large amount of relevant medical data is acquired, and the judgment model is set up based on a deep learning mode, so that the host can automatically judge whether the embolism is incomplete, and if a problem occurs, the doctor is prompted to perform further operation.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An interventional navigation system, comprising: the respiratory gating system, the intervention device and the three-dimensional model building module;
the respiratory gating system is used for acquiring respiratory motility information of a patient;
the interventional device comprises: a positioning unit and an interventional structure; the positioning unit is used for acquiring position information of the interventional structure;
the three-dimensional model reconstruction unit is used for acquiring a three-dimensional scanning image of a preset intervention region and constructing a three-dimensional blood vessel model;
the three-dimensional model reconstruction unit is in communication connection with the respiratory gating system and is used for receiving the respiratory motility information and adjusting the three-dimensional blood vessel model based on the respiratory motility information;
the three-dimensional model reconstruction unit is in communication connection with the interventional device and is used for receiving the position information of the interventional structure and displaying the corresponding position of the interventional structure in the three-dimensional blood vessel model.
2. The interventional navigation system of claim 1, wherein the three-dimensional scan image is obtained by an arteriography technique.
3. The interventional navigation system of claim 1, wherein the positioning unit comprises: a sensor and a receiver;
the sensor is disposed on the interventional structure;
the receiver is in communication connection with the sensor and is used for receiving the positioning information sent by the sensor.
4. The interventional navigation system of claim 1, wherein the three-dimensional model building module comprises: the system comprises a host, a human-computer interaction device and a display screen;
the host is used for constructing a three-dimensional blood vessel model which changes along with the respiratory motility information of the patient in real time and determining the corresponding position of the interventional structure in the three-dimensional blood vessel model in real time;
the human-computer interaction device is used for acquiring a control instruction;
and the display screen is used for displaying the three-dimensional blood vessel model and the corresponding position of the interventional structure in the three-dimensional blood vessel model based on the control instruction.
5. The interventional navigation system of claim 4, wherein the host comprises:
the pre-construction module is used for constructing a three-dimensional blood vessel model based on a preoperative CTA three-dimensional scanning image;
the optimization module is used for refining the three-dimensional blood vessel model based on the intraoperative CTA three-dimensional scanning image;
and the integration module is used for integrating the respiratory motility information, the position information of the interventional structure and the three-dimensional blood vessel model to obtain the three-dimensional blood vessel model which changes along with the respiratory motility information in real time, and determining the corresponding position of the interventional structure in the three-dimensional blood vessel model.
6. The interventional navigation system of claim 4, wherein the host computer is further configured to determine an embolization effect based on intraoperative CTA three-dimensional scan images.
7. An interventional navigation method, comprising:
acquiring a three-dimensional scanning image of a preset intervention region, and building a three-dimensional blood vessel model based on the three-dimensional scanning image;
acquiring respiratory motility information of a patient, and adjusting the three-dimensional blood vessel model based on the respiratory motility information;
and acquiring position information of an intervention structure, and displaying a corresponding position of the intervention structure in the three-dimensional blood vessel model based on the three-dimensional model building module.
8. The interventional navigation method of claim 7, wherein the obtaining position information of an interventional structure comprises:
and acquiring the position information of the interventional structure through a sensor which is arranged on the interventional structure in advance and a receiver which is in wireless communication connection with the sensor.
9. The interventional navigation method of claim 8, further comprising:
acquiring an intraoperative CTA three-dimensional scanning image of a preset intervention region;
refining the three-dimensional vessel model based on the intraoperative CTA three-dimensional scan image.
10. The interventional navigation method of claim 9, further comprising:
judging whether the embolism in the operation meets the preset requirement or not based on the CTA three-dimensional scanning image in the operation;
and if the preset requirement is not met, sending a prompt.
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